TB-322: Hickory and Yaskawa Setup & Tuning – Centroid CNC Knowledge Base

TB-322 2026-01-29
Hickory and Yaskawa Setup & Tuning

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TBID: 322
Date: 2026-01-29
Author: Lucas Kottwitz
UID: 495
File: 322.pdf
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Overview
Setup guide for Yaskawa EtherCAT drives with the Hickory CNC Controller 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Hickory CNC Controller  
The HICKORY is an integrated PLC and motion control processor  HICKORY uses an Ethernet based fieldbus to 
communicate with all accessories over RJ45 shielded twisted pair  Ethernet  cables  The new protocol and connection 
scheme are the defining features of HICKORY versus previous products such as OAK 
HICKORY communicates with a host PC over Ethernet connection  Drives and peripherals  PLC expansion boards  
Operator’s Control Panel  etc  are connect in a daisy chain format  with the first Drive connected to the HICKORY’s fieldbus 
output and subsequent drives and peripherals chained down from the first Drive   
A typical configuration would be connected as   HICKORY → Axis 1 → Axis 2 → Axis 3 → Axis 4 →  Axis 5 → Axis 6 → Axis 7 
→ Axis 8 → Operator’s Control Panel 
Typical Mill/Router  Axis 1 = X  →  Axis 2 = Y  →  Axis 3 = Z  →  Axis 4 = Y2  paired motor to Y1   →  Axis 5 A  rotary axis   → 
Operator’s Control Panel
Typical Lathe  Axis 1 = Z →  Axis 2 = X →Axis 3 = Y → Axis 5 C  rotary axis  → Operator’s Control Panel
HICKORY supports up to 8 drives and 8 peripherals for a total of 16 devices chained together   
When Using any Hickory Expansion boards place them at the beginning of the chain 
Example  HICKORY → Ecat1616  i/o expansion  → ENCEXP13  encoder port expansion  → Axis 1 → Axis 2 → Axis 3 → 
Axis 4 →  Axis 5 → Axis 6 → Axis 7 → Axis 8 → Operator’s Control Panel 
Supported Drives
• Yaskawa   TB322    This document  • Estun Summa   TB317  
• Teknic ClearPath EC   TB332   • Inovance SV660N   TB329  
• Delta ASD B3A E   TB330  
• Delta ASD B3 E   TB330   • LS Electric iX7NH   TB335  
• LeadShine EL8 EC   TB324  
• Leadshine EL7 EC   TB323  
Required software
• CNC12   Centroid CNC control software  
◦ https //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html   
• Yaskawa SigmaWin+ v7 xx
◦ https //www yaskawa com/products/motion/sigma 7 servo products/software tools/sigmawin plus 7/ /content/   
_05e40326 19a5 4996 8df2 3bd32762d39d_DownloadSoftware
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Supporting documents
• HICKORY DIY Installation Manual
◦ https //www centroidcnc com/centroid_diy/downloads/hickory/centroid_hickory_cnc_install_manual pdf   
• Hickory and Yaskawa schematic S15075   Mill  220VAC  Hickory  Yaskawa Drives  Generic Inverter  VFD  
schematic
◦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=S15075   
• Yaskawa Sigma 7S EtherCAT Manual
◦ https //sigma7 eu/wp content/uploads/Verst%C3%A4rker/EtherCat/Documentations/   
Manual%20Sigma%207%20200V%20Single%20Axis%20EtherCat pdf
Setup and Configuration Procedure outline for Yaskawa EtherCAT drives for use with the Hickory  
CNC Controller
1  Follow the Hickory Installation Manual up until you finish Section 5 7 
2  Using the Yaskawa SigmaWin+ software  program the Yaskawa drive parameters for use with Hickory 
3  Bench Test Motor Movement with the Yaskawa software 
4  Follow the Hickory Installation Manual starting with section 5 8 and until you finish section 7 1 
5  Use Yaskawa SigmaWin+ to tune the Yaskawa drives to the machine axes 
6  Use CNC12 Drive delay Auto Tuning to Auto configure the Drive delay 
7  Perform Drive tuning by hand for paired axes or to more finely tune the drives 
8  Continue with the Hickory Installation manual from Section 7 3 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Program Yaskawa Drives for use with Hickory
The Yaskawa drives can be programmed at just about any step in the Hickory setup process but generally you’ll want to have  
completed up through  Section 5 7 of the Hickory install manual  before following this section  Or at the very least have gotten 
to the point where the drives should be bench tested with the CNC12 software 
Prerequisites
The following items are needed 
• Computer with Yaskawa SigmaWin+ software installed  Version 7 43 was used for this document 
➔ Download at   https //www yaskawa com/products/motion/sigma 7 servo products/software tools/sigmawin 
plus 7/ /content/_05e40326 19a5 4996 8df2 3bd32762d39d_DownloadSoftware
• USB A to Mini B USB cable – connected between the PC and the Yaskawa drive you wish to setup 
➔ Use this link   https //amzn to/41imr7Y
➔ Note that the drives do not ship with one of these USB cables 
Servopack Configuration Process
Launch the Yaskawa SigmaWin+ software and you will see the screen below 
Click “Connect the SERVOPACK” 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Make sure “USB Connection” is  
highlighted  then press the “Search for  
SERVOPACKs” button 
All servopacks connected via USB will be  
listed  Choose which servopack you would  
like to connect to and press the “Connect”  
button 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Click on the “Menu” icon   
The menu screen will open  If this is a new  
setup  choose “Edit Parameters” 
Select “Initialize” 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
You will see a warning message   
Press OK 
Press OK again  power cycle  and  
reconnect to the drive   
Select “I/O Signal Allocation” 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
If the “I/O Signal Allocation” box is not set to “User  
Allocation”  click on the “Change Method” button 
Use the drop down menu and select “User  
Allocations” 
Press the “Change/Software Reset” button  You  
will need to wait 10 15 seconds 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
The “Input Signal” tab in the “I/O Signal Allocation” box should be displayed  We are interested in two items in the “Pin 
Number” column 
Double click the box for “P OT” in the “Pin  
Number” column   A drop down menu will  
appear  Scroll down and choose “Always  
Inactive”  Repeat this for “N OT” as well 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
This is how it should look when  
complete 
Click “Write” and a warning dialog  
box will appear  Click  
“Change/Software Reset” to  
confirm 
Another warning dialog box will appear   
Click “OK” and then reconnect to  
SigmaWin+ 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Click on the “Menu” icon 
Click on the “Edit Parameters” icon and scroll to  Pn140 0   Make sure that  Pn140 0  is set to “0” 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Click on the “Menu” icon 
Click on “Reset Absolute  
Encoder” 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
A warning message will appear   
Press “Continue” 
A second message will appear  Press  
“Execute Setting” 
A completion message will appear  Press  
“OK”   
Power down and restart the drive 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Bench Test Motor Jogging with Yaskawa Software
For testing on the bench  wire up the Yaskawa drives according to schematic  #15075  
Force Outputs On
a  With the Hickory powered ON  open CNC12 and press  ALT+i  to open the PLC Diagnostic Screen 
b   For motors with a holding brake which is controlled by Hickory via an output relay we’ll need to temporarily manually 
release the motor brake  Navigate to the correct output using the arrow keys  which in our example is  OUT9     and force it on 
by pressing  CTRL+ALT+F   When forced the output will now be permanently green and have a white underline  Be aware of 
the Z axis dropping due to gravity if E Stop is toggled with the brake off 
c   Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the 
drives   Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut  which by default is   OUT1   and     press  
CTRL+ALT+F   once  Notice  OUT1  is now green and has an underline which means its current state is being forced  This will 
close the E Stop contactor and provide motor power to the drive for further setup 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Bench testing motors with Yaskawa software
With CNC12 running and  OUT1  forced  
ON  go back into the  SigmaWin+  
software and  from the "menu" screen   
click on "Jog" 
A warning dialog box will appear  Click  
“OK” 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
A jog dialog box will appear 
Click " Edit " to change the "JOG Speed"  
setting  50 RPM is a good  safe starting  
point 
Verify that CNC12 is running and  OUT1  
is still forced ON 
Click " Servo ON " to enable the  
Servopack Motor Power 
The screen should then show "Servo ON" 
You can now jog the motor by pressing and holding  
either the Forward or Reverse buttons 
If everything is working correctly  you should have  
smooth motion with the Servomotor  Simply close the  
Jog Operation window to exit Jog Mode   
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Return Outputs to an unforced state
a   Turn servo power off and press E stop  Then go back into the CNC12 PLC Diagnostic Screen by pressing  ALT+i  to return 
the outputs we forced on earlier to their unforced state 
b   Using the arrow keys move the selector to any of the outputs that were forced on earlier  Now press  CTRL+ALT+F  to 
force the output permanently off  and  CTRL+ALT+F  once again to return the output to it’s default state so it can be controlled 
by the PLC once again  You should now see no white underlines underneath the outputs 
Once finished bench testing the motors with the SigmaWin+ software power cycle the drive  Continue where you left off with 
the Hickory install manual until you’ve completed section 7 1 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Tuning Yaskawa drives to the axis motors of the machine
Once you’ve reached  Section 7 2 of the Hickory install manual  you’re ready for tuning of the Yaskawa drive s   At this point 
the drives and motors have been bench tested with the SigmaWin+ software and CNC12  The motors have also been 
installed on the machine and are ready to be tuned to the axes 
*** For now  Skip this drive tuning step on software paired axes   DO NOT  command motion on paired axes from software  
other than CNC12 when the motors are coupled to the gantry/other paired axis 
Force Outputs On
a  With the Hickory powered ON  open CNC12 and press  ALT+i  to open the PLC Diagnostic Screen 
b   For motors with a holding brake which is controlled by Hickory via an output relay we’ll need to temporarily manually 
release the motor brake  Navigate to the correct output using the arrow keys  which in our example is  OUT9     and force it on 
by pressing  CTRL+ALT+F   When forced the output will now be permanently green and have a white underline  Be aware of 
the Z axis dropping due to gravity if E Stop is toggled with the brake off 
c   Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the 
drives   Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut  which by default is   OUT1   and     press  
CTRL+ALT+F   once  Notice  OUT1  is now green and has an underline which means its current state is being forced  This will 
close the E Stop contactor and provide motor power to the drive for further setup 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Yaskawa Drive Software Tuning with stimulus from the drive
Click on "Tuning" from the "Menu" screen   
as shown to the right 
You will then see a safety warning about the  
use of Tuning  Simply press " Execute " to  
continue 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
You will then see the Tuning window  as  
shown to the right 
Select “Change” and click “OK” 
A message will appear  Click “OK” and power  
cycle the drive 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
You will then see the Tuning window 
Click " Execute "  This will begin the process to calculate  
the Moment of Inertia for the Servomotor 
You will then see the Condition Setting  
window  as shown to the right  Click " Next " 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Click " Start " to transfer the reference conditions to  
the Servopack and then click " Next " 
You will then see the Moment of Inertia  
calculation 
Verify that CNC12 is running and 
OUT1  is still forced on 
Click " Servo On " to apply power to the  
Servomotor 
Alternatingly click " Forward " and  
" Reverse " until the SigmaWin software  
will no longer allow you to press either  
button  signifying that the process is  
complete 
Click " Next " 
You will then see the window shown to  
the right 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Click " Writing Results " to send the results to the Servopack 
Click " Finish "   
You will then be prompted to execute a  Software Reset  on the Servopack 
You will then be returned to the Tuning window 
Under the " Autotuning " section  click " No Reference Input " to ensure that the correct mode is selected during tuning  Click 
" Autotuning " 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
You will then see an  Autotuning   Set Conditions  window  as shown to  
the right 
The following settings should be set by default  Verify that they match the  
following settings 
Set "Switching the load moment of inertia  load mass identification " to " 1   
A moment of inertia is not presumed  " 
Set "Mode selection" to " 2  For positioning " 
Set "Mechanism selection" to " 2  Ball screw mechanism or linear  
motor " 
Ensure the "Moving Range" is set to " 3 0 " rotations 
Click " Next " 
You may receive another warning  Click " Yes " to send the parameters to  
the Servopack 
You will then see the  Autotuning – Automatic setting  window   
as shown to the right 
Verify that CNC12 is running and OUT1 is still forced ON 
Click " Servo ON " 
Click " Start tuning "  The Servopack will then tune itself   
Sometimes the autotune will fault   This can usually be fixed by  
performing a  Software Reset  and restarting the Autotune  
process 
Click " Finish " when the tuning is complete 
At this point  the Servopack and servomotor are tuned  Execute a 
Software Reset  to be sure that everything is back in good  
operation 
Repeat the procedure for the remaining Servopacks 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Return Outputs to an unforced state
a   Turn servo power off and press E stop  Then go back into the CNC12 PLC Diagnostic Screen by pressing  ALT+i  to return 
the outputs we forced on earlier to their unforced state 
b   Using the arrow keys move the selector to any of the outputs that were forced on earlier  Now press  CTRL+ALT+F  to 
force the output permanently off  and  CTRL+ALT+F  once again to return the output to it’s default state so it can be controlled 
by the PLC once again  You should now see no white underlines underneath the outputs 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Run CNC12 Drive Delay timing Autotune
Centroid Drive Delay Auto Tune is required for proper servo motor operation   The Drive Delay Tune will verify a commanded 
move with the actual move data provided by the encoder and calculate a ‘drive delay’ in milliseconds 
Requirements 
  The Servo motor to machine mechanical ‘gear’ ratio  Centroid calls it “overall turns ratio ” “revs/inch ” or “mm/rev” when in 
metric  is required to be set properly before continuing with this procedure!  
  Currently software paired axes will not be run by the Centroid Drive Delay Autotune feature  If you run it with an active 
paired axis it will just skip it and give you a warning  However we recommend changing the axis labels for the paired axis to 
“N” 
  The machine home position must b e  set 
  After any drives have been configured and tuned with the Yaskawa software or any time you have changed any Yaskawa 
parameter settings on the drives s   the Centroid Drive Delay  Timing Autotune in t he CNC12 PID menu must be performed  
again!  
Notes   
  If you would like to Perform the Drive Delay Auto Tune on one axis at a time  simply change the axis labels of the axes 
you're not tuning to “N” to turn them off 
  Drive delay tuning on paired axes must be done by hand  More information on this can be found after this section 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Start the drive delay AutoTune by pressing 
F1 – Setup  →   F3 – Config  default password is 137   →   F4 – PID  →   F5 – Tune   
Make sure that all axes can move the specified amount as seen on the screen without running into any obstacles or a limit 
switch and press  Cycle Start    
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
After successful autotune  press F1 key to save results 
For software paired axis  it is required to hand enter a drive delay number in CNC12 using parameters 340 347   
A good starting place is to hand enter the same drive delay time that auto tune found for a similar axis motor/drive/machine 
axis mechanicals 
In the example below   Axis 2  Y  is paired to Axis 4  W   
so we set Parameters 341  Axis 2 drive delay  and 343  Axis 4 drive delay   to 5  ms    
Which is the X value found by Centroid Drive Delay AutoTune seen in Parameter 340
Pitfall Warning   if you run Centroid Drive Delay AutoTune with the paired axis Active  drive letter NOT set to “N”  the drive 
delay value for the paired axis will be set to zero and overwrite any hand entered values!  
Further Hand Tuning of the Drive Delay amount and Position Gain in the Yaskawa software is described below 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Drive delay tuning by hand
For some machines it is desirable to further increase the positioning accuracy of the motor/drive  Centroid’s CNC12 software 
has a built in scope which allows you to collect positional data while running a simple test g code program in a repeat loop 
and observe the real time Absolute position Error of an axis   
In the example below we are running the Scope on the Z axis which is moving up and down over and over  The “ErrAbs” is 
observed at 0 00008 ”  In this case there in NO NEED to proceed with the instructions below   
In general   If “ErrAbs” is below the fourth decimal place  0 0000x  inches then there is no need to do any further tuning 
The image above is of running a live Scope shot of the Z axis  After automatic delay tuning was completed  with very little 
position error  orange line  from commanded position   The green line is motor velocity 
The orange trace  ErrAbs  is the position error  The readout on the top left tracks the marker in the plot  This marker can be 
placed by left clicking anywhere within the plot window  To the left of the slash is the error in terms of command pulse counts 
while the right side of the slash shows the displacement 
Assuming the overall turns ratio is set correctly  see  Tech bulletin 37  for more info  the position error on constant velocity 
moves should be very small  You can mostly ignore the orange spike seen on the direction changes 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Paired axis drive delay tuning by hand
The Centroid drive delay AutoTune function cannot be run on software paired axes however good performance can be 
achieved by fine tuning the delay and drive parameters by hand 
  Be sure to complete the paired axes setup as described in the Hickory installation manual 
  Keep the axes paired in CNC12 and only command the master axis label  Y in our example  in the drive delay tune g code 
program   
   DO NOT  run the  PID_collection_moves txt  program on the Slaved Axis Label!  W in our example  
For example  we have a Router with a Y axis moving Gantry  Y is axis 2  master  and is paired to axis 4  W  slaved  
Run the Data collection Scope on the Y axis and observe the ErrAbs just like any other axis described below 
When performing the trial and error process of adjusting the drive delay value covered in the following section make 
adjustments to the drive delay parameters for BOTH of the paired axes at the same time   In our example we would make 
0 25 ms changes to both CNC12 parameters 341  axis 2  master  Y  and 343  axis 4  slaved  W  
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Hand Drive Delay Tuning Procedure
1  From CNC12’s main screen  press  F1 – Setup  →  F3 – Config  default password is 137   →  F3 – Parms  and 
navigate to parameter #340 
2  Set the delays for any axes that will be hand tuned to a starter value such as 5 ms 
3  Press  F10 – Save  and then press  F4 – PID  →  F1 – PID Config  to enter the PID Configuration menu 
4  Press  F1 – Edit Program  to bring up the PID data gathering program in a text editor  
PID_collection_moves txt   Modify the program to provide a safe range of motion that is large enough for the 
axis to accelerate to the commanded rate  The feedrate should be the fastest positioning speed i e  the fast jog rate  
The delay is not critical but it is a good idea to have some 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Here are a couple examples   Edit these files to meet your requirement for start/stop position  feedrate etc   refer to 
the  CNC12 Operators manuals  for further explanation on all G and M codes 
5  Save the file and return to CNC12  Press  F8 – Change Axis  to select the axis you wish to run the data collection on  
which is displayed in the upper left corner of the screen 
Run the Scope by pressing  F2 – Run Program  and then  Cycle Start  which will start the 
PID_collection_moves txt  program that we just edited   
The axis will start moving and you will likely see a display similar to the following image  If not  press  F7 – Zoom All  
to automatically zoom to the full extents of the signals 
The orange trace  ErrAbs  is the position error in terms of encoder counts  There will most likely be a large 
observable error seen since the drive delay timing value that we entered does not match the Yaskawa Software 
tuning of the drive  The above figure shows roughly 0 0045 inches of error  This might be good for a router but for a 
Lathe or Milling machine we would want to do better 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
6  Now start the trial and error process of hand tuning the drive delay value 
ESC  out of the Scope Run and adjust the drive delay parameter  340 347  by 0 25  250 milliseconds  one way or the  
other and start the Scope Run again  Be sure to always run the same program in the same place on the machine tool  
when comparing and observing the ErrAbs amount  don’t change more than one thing at a time    
In general  the drive delay is too high if the orange ErrAbs trace is on the opposite side from the green Velocity trace  
Correspondingly  it is too low if it is on the same side as the green Velocity trace  The goal is to bring the orange 
ErrAbs trace as close to zero as possible 
7  After a little tweaking  below is the same scope shot showing good results of 0 00002” Position error  We are done! 
Ignore the orange spikes on the direction change and stops – they will not influence anything 
8  Press  Cycle Cancel  or  ESC  to stop the program when finished 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Optional drive delay fine tuning
As the CNC12 AutoTune will set the drive delay to the best possible number within 0 25 ms this procedure is only necessary 
if you wish to even further fine tune the drive delay 
1  Navigate to the PID Config screen as we did in the previous section by going to  F1 – Setup  →  F3 – Config  default 
password is 137   →   F4 – PID  →  F1 – PID Config  
2  If needed edit the  PID_collection_moves txt  program for the axis you want to tune by pressing  F1 – Edit 
Program  and don’t forget to save the changes 
3  Press  F8 – Change Axis  to select the axis you wish to run the data collection on and then press  F2 – Run Program  
and then  Cycle Start  to start the  PID_collection_moves txt  program 
4  If you’re still seeing consistent error proportional to Vabs then fine tuning is needed in  SigmaWin+ 
This error is due to a delay time mismatch   Centroid Autotune has corrected the delay to the best of its ability  but the  
smallest correction it can make is 250us   A residual delay mismatch may remain that is between 0 and 250us 
Follow these steps to get to the SigmaWin+ Custom Tuning menu 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
Do not change the moment of  
inertia  simply click next 
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TB322  Rev6  – CNC12 & Hickory Yaskawa Setup & Tuning
5  While the live tuning program is running  adjust the "Feed Forward”  FF  level in SigmaWin+   Relatively fine changes  
will be needed here that will not undo previous tuning efforts   The FF level changes will take effect when the motor 
stops  at direction changes    The error trace on Centroid's live tuning should get closer to 0   If not  adjust the FF 
level the other way   
6  The error trace will be centered around 0 when the adjustment is correct  as seen below 
Corrected  
performance after  
delay fine tuning
7  Press the "Completed" button in SigmaWin+ and disconnect from the drive   
8  Press  Cycle Cancel  or  ESC  in CNC12 to stop the program when finished 
Once you’ve finished tuning the drives continue with the Hickory install manual where you left off 
Public\tech\Technical bulletins\TB322\TB322_rev6 odt                 Page  36  of  36
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